version: 66.06
glider: 139
mission: 8
dive: 352
start: 9 3 110 18 33 14
data:
$ID,139
$MISSION,8
$DIVE,352
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,190
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,60
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52108
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2158270.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2630
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,182726,2100.434,-15752.601,28,2.2,47,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.3
$GPS2,183258,2100.383,-15752.585,12,2.2,31,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,49.1,19498,-23.8,-7.895
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.28,0.000,2,0.000,0.000,424,1701,2757,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-3.4,12,110,12.50,2.38,-2.15,0.000,4,0.134,0.037,2753,3105,2872,0,0,0,0,0,0
$GC,183,-1.60,-58.4,26.7,-17.2,32,190,0.00,2.42,0.00,0.000,6,0.000,0.035,2753,1700,2874,0,0,0,0,0,0
$GC,383,-1.52,-58.4,62.6,-19.0,50,387,0.00,2.42,0.00,0.000,4,0.000,0.046,2753,290,2875,0,0,0,0,0,0
$GC,411,-1.36,-58.4,68.6,-20.8,52,416,0.25,2.33,0.00,0.000,6,0.095,0.018,2802,1738,2875,0,0,0,0,0,0
$GC,672,-1.43,-58.4,110.2,-14.9,72,675,0.00,2.17,0.00,0.000,4,0.000,0.021,2803,3083,2876,0,0,0,0,0,0
$GC,685,-1.52,-58.4,112.9,-15.9,73,690,0.15,2.30,0.00,0.000,6,0.054,0.029,2754,1692,2876,0,0,0,0,0,0
$GC,947,-1.52,-58.4,152.7,-13.3,93,952,0.00,2.28,0.00,0.000,4,0.000,0.021,2754,3085,2877,0,0,0,0,0,0
$GC,1014,-1.63,-58.4,160.7,-10.1,98,1018,0.00,2.33,0.00,0.000,6,0.000,0.031,2754,1700,2876,0,0,0,0,0,0
$GC,1281,-1.67,-58.4,188.5,-11.0,119,1286,0.00,2.40,0.00,0.000,4,0.000,0.045,2754,298,2877,0,0,0,0,0,0
$GC,1307,-1.67,-58.4,191.9,-12.1,121,1311,0.00,2.25,0.00,0.000,6,0.000,0.019,2754,1714,2877,0,0,0,0,0,0
$GC,1568,-1.74,-58.4,220.8,-10.6,136,1573,0.15,2.45,0.00,0.000,4,0.058,0.045,2706,290,2878,0,0,0,0,0,0
$GC,1592,-1.67,-58.4,224.2,-13.8,137,1597,0.15,2.22,0.00,0.000,6,0.099,0.019,2736,1701,2877,0,0,0,0,0,0
$GC,1923,-1.67,-58.4,263.0,-11.8,153,1927,0.00,2.25,0.00,0.000,4,0.000,0.025,2736,3080,2878,0,0,0,0,0,0
$GC,2054,-1.75,-58.4,279.0,-10.5,158,2060,0.00,2.35,0.00,0.000,6,0.000,0.033,2736,1699,2878,0,0,0,0,0,0
$GC,2389,-1.81,-58.4,313.9,-9.8,172,2394,0.12,2.28,0.00,0.000,4,0.064,0.025,2696,3073,2878,0,0,0,0,0,0
$GC,2404,-1.84,-58.4,315.5,-9.5,172,2408,0.00,2.33,0.00,0.000,6,0.000,0.033,2696,1693,2877,0,0,0,0,0,0
$GC,2717,-1.84,-58.4,351.8,-12.3,180,2721,0.00,2.33,0.00,0.000,4,0.000,0.027,2696,3073,2877,0,0,0,0,0,0
$GC,2732,-1.84,-58.4,353.6,-11.9,180,2737,0.00,2.33,0.00,0.000,6,0.000,0.035,2696,1702,2877,0,0,0,0,0,0
$GC,3082,-1.84,-58.4,396.8,-12.4,189,3086,0.00,2.28,0.00,0.000,4,0.000,0.028,2696,3072,2875,0,0,0,0,0,0
$GC,3151,-1.84,-58.4,404.1,-10.1,190,3155,0.00,2.35,0.00,0.000,6,0.000,0.038,2695,1699,2875,0,0,0,0,0,0
$GC,3493,-1.84,-58.4,443.7,-12.4,199,3497,0.00,2.45,0.00,0.000,4,0.000,0.054,2695,297,2872,0,0,0,0,0,0
$GC,3512,-1.79,-58.4,446.4,-12.4,199,3516,0.00,2.28,0.00,0.000,6,0.000,0.025,2695,1691,2871,0,0,0,0,0,0
$STATE,3572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3572,begin apogee
$GC,3577,-0.31,0.0,454.0,12.8,201,3631,1.60,0.00,49.30,0.818,6,0.081,0.000,3030,1696,2630,0,0,0,0,0,0
$STATE,3632,end apogee,CONTROL_FINISHED_OK
$STATE,3632,begin climb
$GC,3635,1.56,58.4,455.8,0.0,202,3694,1.77,2.40,50.35,0.803,4,0.028,0.031,3452,3090,2390,0,0,0,0,0,0
$GC,3706,1.41,162.8,456.6,-1.5,204,3807,0.22,2.42,91.20,0.806,6,0.107,0.036,3409,1697,1966,0,0,0,0,0,0
$GC,4148,1.22,162.8,400.6,14.9,215,4153,0.22,2.50,0.00,0.000,4,0.102,0.055,3366,298,1956,0,0,0,0,0,0
$GC,4174,1.01,162.8,396.3,16.7,215,4179,0.25,2.33,0.00,0.000,6,0.099,0.027,3318,1711,1953,0,0,0,0,0,0
$GC,4515,1.01,162.8,357.0,11.7,224,4519,0.00,2.53,0.00,0.000,4,0.000,0.055,3318,294,1950,0,0,0,0,0,0
$GC,4534,0.96,162.8,354.7,11.4,224,4538,0.00,2.33,0.00,0.000,6,0.000,0.027,3318,1705,1949,0,0,0,0,0,0
$GC,4880,0.96,162.8,318.5,10.4,233,4884,0.00,2.47,0.00,0.000,4,0.000,0.054,3318,298,1947,0,0,0,0,0,0
$GC,5110,0.91,162.8,294.9,9.4,239,5114,0.00,2.33,0.00,0.000,6,0.000,0.026,3318,1708,1943,0,0,0,0,0,0
$GC,5442,0.96,162.8,267.9,8.9,255,5446,0.00,2.30,0.00,0.000,4,0.000,0.028,3318,3085,1943,0,0,0,0,0,0
$GC,5511,1.05,162.8,261.1,8.8,258,5515,0.00,2.38,0.00,0.000,6,0.000,0.037,3318,1694,1942,0,0,0,0,0,0
$GC,5837,1.11,164.9,231.2,7.7,274,5839,0.10,0.00,0.00,0.000,6,0.078,0.000,3349,1695,1941,0,0,0,0,0,0
$GC,6146,1.11,164.9,207.1,8.2,289,6150,0.00,2.40,0.00,0.000,4,0.000,0.050,3349,296,1940,0,0,0,0,0,0
$GC,6184,1.02,164.9,203.2,10.8,290,6192,0.10,2.33,0.00,0.000,6,0.083,0.023,3325,1712,1939,0,0,0,0,0,0
$GC,6513,1.11,174.0,174.6,7.1,315,6527,0.00,2.53,5.97,0.510,4,0.000,0.048,3325,293,1919,0,0,0,0,0,0
$GC,6696,1.15,205.1,162.4,5.1,328,6734,0.10,2.28,29.02,0.621,6,0.075,0.021,3358,1718,1792,0,0,0,0,0,0
$GC,6987,1.19,205.1,139.4,8.3,351,6992,0.00,2.47,0.00,0.000,4,0.000,0.047,3357,295,1789,0,0,0,0,0,0
$GC,7006,1.19,205.1,137.2,10.1,352,7013,0.00,2.28,0.00,0.000,6,0.000,0.021,3358,1705,1787,0,0,0,0,0,0
$GC,7267,1.25,205.1,112.8,8.8,373,7272,0.00,2.45,0.00,0.000,4,0.000,0.045,3358,291,1787,0,0,0,0,0,0
$GC,7314,1.25,205.1,107.4,11.7,376,7321,0.00,2.25,0.00,0.000,6,0.000,0.020,3358,1699,1786,0,0,0,0,0,0
$GC,7575,1.34,221.1,87.3,6.5,397,7596,0.15,2.30,14.32,0.522,4,0.056,0.021,3404,3067,1727,0,0,0,0,0,0
$GC,7617,1.34,221.1,83.8,8.0,400,7621,0.00,2.30,0.00,0.000,6,0.000,0.031,3404,1697,1727,0,0,0,0,0,0
$GC,7881,1.34,221.1,56.0,11.3,421,7885,0.00,2.22,0.00,0.000,4,0.000,0.021,3404,3070,1727,0,0,0,0,0,0
$GC,7897,1.34,221.1,54.1,11.2,422,7901,0.00,2.30,0.00,0.000,6,0.000,0.030,3404,1699,1727,0,0,0,0,0,0
$GC,8160,1.34,221.1,24.8,10.9,450,8167,0.00,2.42,0.00,0.000,4,0.000,0.044,3403,298,1726,0,0,0,0,0,0
$GC,8300,1.24,221.1,8.0,12.4,481,8306,0.12,2.22,0.00,0.000,6,0.080,0.018,3374,1692,1725,0,0,0,0,0,0
$STATE,8346,end climb,SURFACE_DEPTH_REACHED
$STATE,8346,begin surface coast
$FINISH,0.9,1.023129
$STATE,8390,end surface coast,CONTROL_FINISHED_OK
$STATE,8390,begin surface
$SM_CCo,8412,106.62,0.480,0,0,958,410.14
$SM_GC,1.61,0.00,0.00,106.62,0.000,0.000,0.480,427,1699,958,-12.30,-0.03,410.14
$IRIDIUM_FIX,2050.21,-15757.78,281199,151511
$TT8_MAMPS,0.028379
$HUMID,53.97
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,30.370
$10V_AH,10.3,25.323
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.475,107.875,240.175,106.625,0.000,30.432,31.922,127.358,4.500,0.000,32.490,982.347,5512.788,414.980,1496.144,443.100,0.000,1091.893,0.000,1467.921,0.000,29.257,0.000
$DEVICE_MAMPS,134.225,55.224,817.622,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,335.873,328.534,729.835,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,28711,500
$CAP_FILE_SIZE,98432,0
$CFSIZE,260165632,195137536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030910,205636,2100.163,-15752.419,38,1.0,44,9.8